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2007 Fiscal Year Final Research Report Summary

Development of fundamental key technology for next generation intelligent electric wheelchair for outdoor environment

Research Project

Project/Area Number 18500442
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Rehabilitation science/Welfare engineering
Research InstitutionHosei University

Principal Investigator

KOBAYASHI Kazuyuki  Hosei University, Faculty of Engineering, Associate Professor (50287843)

Project Period (FY) 2006 – 2007
KeywordsElectric wheelchair / Environmental recognition / Omni-directional camera / Waypoint navigation / Differential GPS / Outdoor image processing
Research Abstract

Because of rapidly growing the aging society in Japan, development of wheelchair for elderly people will necessary. In order to develop wheelchair for elderly people, intelligence is prerequisite, to assist appropriate safety driving. In this report, we describe development of fundamental key technology for next generation intelligent electric wheelchair for outdoor environment. The organization of report can be categorized into(1) outdoor environment recognition by using advanced image processing with unique Omni-directional camera, (2) electric wheel chair control to compensate controllability of two wheeled wheelchair, (3) system integration and its application of waypoint navigation by using differential GPS and other inertial sensors.

  • Research Products

    (56 results)

All 2007 2006 Other

All Presentation (54 results) Book (2 results)

  • [Presentation] Kinematics Simulation by Using ODE and MATLAB2007

    • Author(s)
      Yuhi Awa and Kazuyuki Kobayashi
    • Organizer
      SICE Annual Conference 2007
    • Place of Presentation
      Kagawa University
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of Intuitive Visual Navigation Interface for Electric Wheelchair2007

    • Author(s)
      Masaru Onishi, Satoshi Shibata, Yoshitaka Goto, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE Annual Conference 2007
    • Place of Presentation
      Kagawa University
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A Study of Omni-directional Image Based Environment Recognition for Mobile Robots2007

    • Author(s)
      Makoto Sugiura, Hidenobu Sakazaki, Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE Annual Conference 2007
    • Place of Presentation
      Kagawa University
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of Laser Rangefinder-based SLAM Algorithm for Mobile Robot Navigation2007

    • Author(s)
      Yusuke Misono, Yoshitaka Goto, Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE Annual Conference 2007
    • Place of Presentation
      Kagawa University
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Kinematics Simulation by Using ODE and MATLAB2007

    • Author(s)
      Yuhi Awa, Kazuyuki Kobayashi
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Kagawa University, Japan
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of Intuitive Visual Navigation Interface for Electric Wheelchair2007

    • Author(s)
      Masaru Onishi, Satoshi Shibata, Yoshitaka Goto, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Kagawa University, Japan
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] A Study of Omni-Directional Image Based Environment Recognition for Mobile Robots2007

    • Author(s)
      Makoto Sugiura, Hidenobu Sakazaki, Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Kagawa University, Japan
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of Laser Rangefinder-based SLAM Algorithm for Mobile Robot Navigation2007

    • Author(s)
      Yusuke Misono, Yoshitaka Goto, Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Kagawa University, Japan
    • Year and Date
      20070917-20
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] PSoCマイコンを用いた車輪型倒立振子の開発2007

    • Author(s)
      大西 将, 佐藤 文哉, 御園 祐介, 小竹 亮太郎, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第28回ファジィワークショップ
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Year and Date
      20070309-10
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] SLAMによる自律ナビゲーションシステムの開発2007

    • Author(s)
      御園 祐介, 樽床 祐樹, 小竹 亮太郎, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第28回ファジィワークショップ
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Year and Date
      20070309-10
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of wheeled inverted pendulum by using PSoC microcontroller2007

    • Author(s)
      Masaru Onishi, Fumiya Sato, Yusuke Misono, Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      28th fuzzy workshop
    • Place of Presentation
      Tokyo metropolitan university
    • Year and Date
      20070309-10
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of autonomous navigation systern by applying SLAM algorithm2007

    • Author(s)
      Yusuke Misono, Yuki Tarutoko, Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      28th fuzzy workshop
    • Place of Presentation
      Tokyo metropolitan university
    • Year and Date
      20070309-10
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] 工学部におけるMATLABによる専門情報教育の一例2007

    • Author(s)
      小林 一行
    • Organizer
      法政大学総合情報センター研究年報 2005, 2006年度
    • Place of Presentation
      法政大学
    • Year and Date
      20070000
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Practical educational class by using MATLAB language at Engineering course2007

    • Author(s)
      Kazuyuki Kobayashi
    • Organizer
      Comprehensive information on the annual report Hosei University Research Center 2005 and 2006
    • Year and Date
      20070000
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] 自律走行制御のためのSimulinkブロックセットの開発と実装2007

    • Author(s)
      沢辺 航, 御園 祐介, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第52回日本知能情報ファジィ学会 知的制御研究部会(SIC2007-2)
    • Place of Presentation
      筑波大学
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] 電動車いすのためのヘッドマウント操作インターフェースの開発2007

    • Author(s)
      大西 将, 柴田 諭, 後藤 善孝, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第52回日本知能情報ファジィ学会 知的制御研究部会(SIC2007-2)
    • Place of Presentation
      筑波大学
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of Simulink blockset for autonomous vehicle and it's implementation2007

    • Author(s)
      Wataru Sawabe, Yusuke Misono, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      Japan Society for Fuzzy Theory and intelligent infomatics, 52nd Technical Committee on Soft Intelligent Control(SIC2007-2)
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of head mount control interface for intelligent ground vehicle2007

    • Author(s)
      Masaru Onishi, Satoshi Shibata, Yoshitaka Goto, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 52nd Technical Committee on Soft Intelligent Control(SIC2007-2)
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] IGVC2007に向けた自律走行車の開発2007

    • Author(s)
      沢辺 航, 坂崎 栄信, 小竹 亮太郎, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第51回日本知能情報ファジィ学会 知的制御研究部会(SIC2007-1)
    • Place of Presentation
      法政大学
    • Year and Date
      2007-07-07
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] サーモグラフィーカメラを用いた電動車いすの安全走行インターフェースの開発2007

    • Author(s)
      小竹 亮太郎, 小林 一行, 渡辺 嘉二郎
    • Organizer
      第51回日本知能情報ファジィ学会 知的制御研究部会(SIC2007-1)
    • Place of Presentation
      法政大学
    • Year and Date
      2007-07-07
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of intelligent ground vehicle for IGVC20072007

    • Author(s)
      Wataru Sawabe, Hidemobu Sakazaki, Ryotaro Kotake, Kajiro Watanabe Kazuyuki Kobayashi
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 51st Technical Committee on Soft Intelligent Control(SIC07-1)
    • Year and Date
      2007-07-07
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of driving interface based on thermography camera2007

    • Author(s)
      Ryotaro Kotake, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 51st Technical Committee on Soft Intelligent Control(SIC07-1)
    • Year and Date
      2007-07-07
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] 自律走行車へのJAUSの実装2006

    • Author(s)
      樽床 祐樹, 杉浦 実, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第27回ファジィワークショップ
    • Place of Presentation
      富山
    • Year and Date
      20061027-28
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of intelligent ground vehicle by using JAUS2006

    • Author(s)
      Yuki Tarutoko, Minoru Sugiura, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      27th fuzzy workshop
    • Place of Presentation
      Toyama
    • Year and Date
      20061027-28
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Vision-based Two-phase Strategy for Autonomous Lane Navigation2006

    • Author(s)
      Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Busan
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A Multi-variable Detecting Sensor and its Application2006

    • Author(s)
      Kenji Koyama, Kajiro Watanabe, Kazuyuki Kobayashi, Yosuke Kurihara, Tsukasa Ishigaki and Tomoyuki Higuchi
    • Organizer
      SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Busan
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Rotation Angle Measurement of High-speed Flying Object2006

    • Author(s)
      Tomohiko Kadowaki, Kazuyuki Kobayashi and Kajiro Watanabe
    • Organizer
      SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Busan
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Foundation-Applied Skin Color Prediction Via SVD-Based Neural Network2006

    • Author(s)
      Kazuyuki Kobayashi, Kajiro Watanabe, Naruhito Toyoda and Hironobu Yoshikawa
    • Organizer
      SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Busan
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Clothoidal Curve-based Path Generation for an Autonomous Mobile Robot2006

    • Author(s)
      Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Busan
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Topological Map Generation based on Delaunay Triangulation for Mobile Robot2006

    • Author(s)
      Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Busan
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Vision-based Two-Phase Strategy for Autonomous Lane Navigation2006

    • Author(s)
      Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      SICE-ICASE International Joint Conference
    • Place of Presentation
      Bexco, Busan, Korea
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] A Multi-variable Detecting Sensor and its Application2006

    • Author(s)
      Kenji Koyama, Kajiro Watanabe, Kazuyuki Kobayashi, Yosuke Kurihara, Tsukasa Ishigaki, Tomoyuki Hifuchi
    • Organizer
      SICE-ICASE International Joint Conference
    • Place of Presentation
      Bexco, Busan, Korea
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Rotation Angle Measurement of High-speed Flying Object2006

    • Author(s)
      Tomohiko Kadowaki, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE-ICASE International Joint Conference
    • Place of Presentation
      Bexco, Busan, Korea
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Foundation-Applied Skin Color Prediction Via SVD-Based Neural Network2006

    • Author(s)
      Kazuyuki Kobayashi, Kajiro Watanabe, Naruhito Toyoda, Hironobu Yoshikawa
    • Organizer
      SICE-ICASE International Joint Conference
    • Place of Presentation
      Bexco, Busan, Korea
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Clothoidal Curve-based Path Generation for an Autonomous Mobile Robot2006

    • Author(s)
      Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE-ICASE International Joint Conference
    • Place of Presentation
      Bexco, Busan, Korea
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Topological Map Generation based on Delaunay Triangulation for Mobile Robot2006

    • Author(s)
      Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SICE-ICASE International Joint Conference
    • Place of Presentation
      Bexco, Busan, Korea
    • Year and Date
      20061018-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Vision-based open loop control strategy for autonomous lane navigation2006

    • Author(s)
      Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      SCIS&ISIS2006
    • Place of Presentation
      Tokyo
    • Year and Date
      20060920-24
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A study of topological map generation based on laser ranging data for mobile robot2006

    • Author(s)
      Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SCIS&ISIS2006
    • Place of Presentation
      Tokyo
    • Year and Date
      20060920-24
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A study of a smooth path generation based on clothoidal curve for autonomous mobile robot2006

    • Author(s)
      Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SCIS&ISIS2006
    • Place of Presentation
      Tokyo
    • Year and Date
      20060920-24
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Vision-based open loop control strategy for autonomous lane navigation2006

    • Author(s)
      Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      SCIS&ISIS2006
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      20060920-24
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] A study of topological map generation based on laser ranging data for mobile robot2006

    • Author(s)
      Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SCIS&ISIS2006
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      20060920-24
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] A study of a smooth path generation based on clothoidal curve for autonomous mobile robot2006

    • Author(s)
      Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      SCIS&ISIS2006
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      20060920-24
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] GPSナビゲーションへのParticle Filterの適用2006

    • Author(s)
      後藤 善孝, 樽床 祐樹, 小竹 亮太郎, 渡辺 嘉二郎, 小林 一行
    • Organizer
      第50回日本知能情報ファジィ学会 知的制御研究会(SIC06-2)
    • Place of Presentation
      筑波大学
    • Year and Date
      2006-12-09
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of GPS navigation system by applying Particle Filter2006

    • Author(s)
      Yoshitaka Goto, Yuki Tarutoko, Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 52nd Technical Committee on Soft Intelligent Control(SIC06-2)
    • Place of Presentation
      Univ. of Tsukuba
    • Year and Date
      2006-12-09
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] IGVC2006に向けた自律走行車の開発2006

    • Author(s)
      坂崎 栄信, 小竹 亮太郎, 渡辺 嘉二郎, 小林 一行
    • Organizer
      日本知能情報ファジィ学会 知的制御研究部会 第49回知的制御研究会(SIC06-1)
    • Place of Presentation
      法政大学
    • Year and Date
      2006-07-01
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] JAUSを用いた自律走行車の開発その22006

    • Author(s)
      杉浦 実, 樽床 祐樹, 渡辺 嘉二郎, 小林 一行
    • Organizer
      日本知能情報ファジィ学会 知的制御研究部会 第49回知的制御研究会(SIC06-1)
    • Place of Presentation
      法政大学
    • Year and Date
      2006-07-01
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] 加速度センサとHMDを用いた電動車いすナビゲーションインターフェースの開発2006

    • Author(s)
      後藤 善孝, 大西 将, 鳥飼 庸介, 小竹 亮太郎, 小林 一行, 渡辺 嘉二郎
    • Organizer
      日本知能情報ファジィ学会 知的制御研究部会 第49回知的制御研究会(SIC06-1)
    • Place of Presentation
      法政大学
    • Year and Date
      2006-07-01
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] The technical description of autonomous robot by using electric wheelchair2006

    • Author(s)
      Kazuyuki Kobayashi
    • Organizer
      26th Fuzzy workshop
    • Place of Presentation
      Univ. of Tsukuba Tokyo Campus
    • Year and Date
      2006-03-18
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Route navigation for short term path planning2006

    • Author(s)
      Raise Mori, Manabu Shimizu, Takenori Sasaki, Hidemobu Sakazaki, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      26th fuzzy workshop
    • Place of Presentation
      Univ. of Tsukuba Tokyo Campus
    • Year and Date
      2006-03-18
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] A study of waypoint navigation algorithm that take into account the effect of lateral acceleration2006

    • Author(s)
      Yoshihiro Miyazaki, Yuki Tarutoko, Shin Amano, Satoshi Shibata, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      26th fuzzy workshop
    • Place of Presentation
      Univ. of Tsukuba Tokyo Campus
    • Year and Date
      2006-03-18
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Recognition strategy for view vased autonomous navigation2006

    • Author(s)
      Ryotaro Katake, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      26th fuzzy workshop
    • Place of Presentation
      Univ. of Tsukuba Tokyo Campus
    • Year and Date
      2006-03-18
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of intelligent ground vehicle for IGVC2006

    • Author(s)
      Hidemobu Sakazaki, Ryotaro Kotake, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 49th Technical Committee on Soft Intelligent Control(SIC06-1)
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of intelligent ground vehicle by using JAUS part2

    • Author(s)
      Minoru Sugiura, Yuki Tarutoko, Kajiro Watanabe, Kazuyuki Kobayashi
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 49th Technical Committee on Soft Intelligent Control(SIC06-1)
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of navigation interface by using acceleration sensor with HMD

    • Author(s)
      Yoshitaka Goto, Masaru Onishi, Yousuke Torigai, Ryotaro Kotake, Kazuyuki Kobayashi, Kajiro Watanabe
    • Organizer
      Japan Society for Fuzzy Theory and intelligent informatics, 49th Technical Committee on Soft Intelligent Control(SIC06-1)
    • Description
      「研究成果報告書概要(欧文)」より
  • [Book] ロボットモデリング2007

    • Author(s)
      小林 一行
    • Total Pages
      273
    • Publisher
      オーム社
    • Description
      「研究成果報告書概要(和文)」より
  • [Book] Robot Modeling2007

    • Author(s)
      Kazuyuki Kobayshi, Robot Modeling
    • Total Pages
      273
    • Publisher
      Ohmsha, Ltd.
    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2010-02-04  

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